/PROG  T1D_T2P
/ATTR
OWNER		= MNEDITOR;
COMMENT		= "T1 DP -> T2 PK";
PROG_SIZE	= 2091;
CREATE		= DATE 12-10-08  TIME 17:19:30;
MODIFIED	= DATE 15-05-26  TIME 15:53:28;
FILE_NAME	= T1D_T2P;
VERSION		= 0;
LINE_COUNT	= 47;
MEMORY_SIZE	= 2535;
PROTECT		= READ_WRITE;
TCD:  STACK_SIZE	= 0,
      TASK_PRIORITY	= 50,
      TIME_SLICE	= 0,
      BUSY_LAMP_OFF	= 0,
      ABORT_REQUEST	= 0,
      PAUSE_REQUEST	= 0;
DEFAULT_GROUP	= 1,*,*,*,*;
CONTROL_CODE	= 00000000 00000000;
/APPL
/MN
   1:   ;
   2:  LBL[10] ;
   3:  UFRAME_NUM=0 ;
   4:  UTOOL_NUM=1 ;
   5:  IF DI[14:ATC UNCHUCK OK]=ON OR DI[26:TOOL #2]=OFF,JMP LBL[90] ;
   6:   ;
   7:J P[1:CLEAR] 30% CNT50    ;
   8:J P[17:CLEAR] 100% CNT50    ;
   9:L P[2:APPROACH] 200mm/sec CNT50 ACC70    ;
  10:L P[3:APPROACH] 300mm/sec CNT50    ;
  11:L P[4:APPROACH] 300mm/sec FINE    ;
  12:L P[5:DROP] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=ON    ;
  13:  DO[13:REQ ATC CHUCK]=OFF ;
  14:  DO[14:REQ ATC UNCHUCK]=ON ;
  15:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  16:  WAIT   1.00(sec) ;
  17:  DO[14:REQ ATC UNCHUCK]=OFF ;
  18:L P[6:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[20:TOOL1 POS]=OFF    ;
  19:L P[7:APPROACH] 300mm/sec CNT50    ;
  20:  WAIT DI[25:TOOL #1]=ON    ;
  21:L P[2:APPROACH] 300mm/sec CNT50    ;
  22:L P[1:CLEAR] 300mm/sec CNT100    ;
  23:J P[18:CLEAR] 100% CNT100 ACC70    ;
  24:   ;
  25:J P[10:APPROACH] 30% CNT50 ACC70    ;
  26:L P[11:APPROACH] 300mm/sec CNT50    ;
  27:L P[12:APPROACH] 300mm/sec FINE    ;
  28:  DO[13:REQ ATC CHUCK]=OFF ;
  29:  DO[14:REQ ATC UNCHUCK]=ON ;
  30:  WAIT DI[14:ATC UNCHUCK OK]=ON    ;
  31:  WAIT    .50(sec) ;
  32:L P[13:PICK] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=ON    ;
  33:  WAIT   1.00(sec) ;
  34:  DO[14:REQ ATC UNCHUCK]=OFF ;
  35:  DO[13:REQ ATC CHUCK]=ON ;
  36:  WAIT DI[13:ATC CHUCK OK]=ON    ;
  37:  WAIT   1.00(sec) ;
  38:L P[14:APPROACH] 100mm/sec FINE ACC50 DB    0.0mm,DO[21:TOOL2 POS]=OFF    ;
  39:L P[15:APPROACH] 300mm/sec CNT50    ;
  40:  WAIT DI[26:TOOL #2]=OFF    ;
  41:L P[16:APPROACH] 300mm/sec CNT50    ;
  42:L P[8] 500mm/sec CNT50    ;
  43:  MOVE TO HOME    ;
  44:  END ;
  45:   ;
  46:  LBL[90] ;
  47:  MESSAGE[ERROR: T2 DETECT OR NOT] ;
/POS
P[1:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3066.618  mm,	Y =   759.346  mm,	Z =  -550.000  mm,
	W =  -179.996 deg,	P =     -.000 deg,	R =    90.001 deg,
	E1=    15.885 deg
};
P[2:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3232.842  mm,	Y =   694.216  mm,	Z = -1021.702  mm,
	W =  -179.999 deg,	P =    89.668 deg,	R =    90.000 deg,
	E1=    15.885 deg
};
P[3:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.029  mm,	Y =   650.275  mm,	Z = -1366.733  mm,
	W =   160.957 deg,	P =    89.176 deg,	R =    71.400 deg,
	E1=    14.171 deg
};
P[4:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.029  mm,	Y =   489.785  mm,	Z = -1368.763  mm,
	W =   160.963 deg,	P =    89.176 deg,	R =    71.407 deg,
	E1=    14.171 deg
};
P[5:"DROP"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.029  mm,	Y =   489.000  mm,	Z = -1447.022  mm,
	W =   160.962 deg,	P =    89.176 deg,	R =    71.406 deg,
	E1=    14.171 deg
};
P[6:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.030  mm,	Y =   692.074  mm,	Z = -1445.982  mm,
	W =   160.963 deg,	P =    89.176 deg,	R =    71.407 deg,
	E1=    14.171 deg
};
P[7:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3230.582  mm,	Y =   700.697  mm,	Z = -1256.696  mm,
	W =  -179.670 deg,	P =    89.667 deg,	R =    90.330 deg,
	E1=    15.885 deg
};
P[8]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3246.463  mm,	Y =  -862.900  mm,	Z =  -527.155  mm,
	W =   179.997 deg,	P =      .002 deg,	R =   -87.932 deg,
	E1=    18.100 deg
};
P[10:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3246.552  mm,	Y =  -862.831  mm,	Z =  -527.000  mm,
	W =  -180.000 deg,	P =      .000 deg,	R =   -87.929 deg,
	E1=    18.100 deg
};
P[11:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3232.821  mm,	Y =  -694.238  mm,	Z =  -900.000  mm,
	W =  -180.000 deg,	P =    89.668 deg,	R =   -90.000 deg,
	E1=    15.885 deg
};
P[12:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3224.481  mm,	Y =  -766.585  mm,	Z = -1442.348  mm,
	W =  -179.583 deg,	P =    89.546 deg,	R =   -89.280 deg,
	E1=    15.882 deg
};
P[13:"PICK"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3224.477  mm,	Y =  -502.824  mm,	Z = -1442.349  mm,
	W =  -179.617 deg,	P =    89.546 deg,	R =   -89.314 deg,
	E1=    15.882 deg
};
P[14:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3224.395  mm,	Y =  -502.905  mm,	Z = -1368.259  mm,
	W =  -179.972 deg,	P =    89.545 deg,	R =   -89.670 deg,
	E1=    15.882 deg
};
P[15:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3224.396  mm,	Y =  -724.026  mm,	Z = -1368.259  mm,
	W =  -179.963 deg,	P =    89.545 deg,	R =   -89.661 deg,
	E1=    15.882 deg
};
P[16:"APPROACH"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  3224.312  mm,	Y =  -682.577  mm,	Z = -1100.000  mm,
	W =   179.895 deg,	P =    87.670 deg,	R =   -89.630 deg,
	E1=    15.731 deg
};
P[17:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 0',
	X =  3190.170  mm,	Y =   890.366  mm,	Z =  -527.000  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =    90.409 deg,
	E1=    15.000 deg
};
P[18:"CLEAR"]{
   GP1:
	UF : 0, UT : 1,		CONFIG : 'N U T, 0, 0, 1',
	X =  2085.823  mm,	Y =      .053  mm,	Z =  -527.289  mm,
	W =   180.000 deg,	P =     -.000 deg,	R =  -179.998 deg,
	E1=   107.700 deg
};
/END
